US11516877B2 - Wireless communication system, slave wireless device and master wireless device - Google Patents

Wireless communication system, slave wireless device and master wireless device Download PDF

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US11516877B2
US11516877B2 US16/978,389 US201916978389A US11516877B2 US 11516877 B2 US11516877 B2 US 11516877B2 US 201916978389 A US201916978389 A US 201916978389A US 11516877 B2 US11516877 B2 US 11516877B2
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slave
master
wireless
wireless device
communication unit
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US20210059007A1 (en
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Tomohiko Aki
Norimasa Ozaki
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SMC Corp
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SMC Corp
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/30—Connection release
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0421—Multiprocessor system
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
    • H04W84/20—Master-slave selection or change arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/10—Plc systems
    • G05B2219/15—Plc structure of the system
    • G05B2219/15117—Radio link, wireless
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/22—Pc multi processor system
    • G05B2219/2231—Master slave
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/30—Connection release
    • H04W76/34—Selective release of ongoing connections

Definitions

  • the present invention relates to: a wireless communication system including a master wireless device and a plurality of slave wireless devices, the plurality of slave wireless devices being provided to a certain appliance and being capable of wireless communication with the master wireless device; the slave wireless device capable of wireless communication with the master wireless device; and the master wireless device capable of wireless communication with the plurality of slave wireless devices.
  • Japanese Laid-Open Patent Publication No. 2017-188868 discloses a wireless communication system that, by a plurality of slave wireless devices being provided to a plurality of appliances disposed in a communication range of a master wireless device, is capable of wireless communication between the master wireless device and the plurality of slave wireless devices.
  • a configuration is adopted such that a specific master wireless device and the plurality of slave wireless devices are wirelessly connected. Therefore, if, due to movement of the appliance, the slave wireless device deviates from the communication range of the master wireless device, it becomes impossible to perform wireless communication between the specific master wireless device and the slave wireless device that has deviated from the communication range. Moreover, even if this slave wireless device enters the communication range of another master wireless device, the slave wireless device that has entered the communication range and the other master wireless device cannot be wirelessly connected.
  • the present invention which has been made considering such a problem, has an object of providing a wireless communication system, a slave wireless device, and a master wireless device that enable wireless communication to be performed between the slave wireless device and the master wireless device even when an appliance moves.
  • a wireless communication system is a wireless communication system including: a master wireless device; and a plurality of slave wireless devices that are provided to a plurality of appliances and are capable of wireless communication with the master wireless device.
  • the plurality of appliances are movable.
  • a plurality of the master wireless devices each include a master control unit and a master communication unit.
  • the plurality of slave wireless devices each include a slave control unit and a slave communication unit.
  • the master control unit of the master wireless device wirelessly connected to the slave wireless device transmits to the slave communication unit of the slave wireless device via the master communication unit a cut-off request signal for requesting cut-off of a wireless connection, with respect to the slave wireless device deviating from a predetermined communication-target region of the master wireless device.
  • the slave control unit of the slave wireless device cuts off the wireless connection in the case that the slave communication unit has received the cut-off request signal.
  • the slave wireless device deviating from the communication-target region attains a connection-free state.
  • the slave wireless device and the other master wireless device it becomes possible, in the case where the slave wireless device has entered the communication-target region of another master wireless device, for the slave wireless device and the other master wireless device to be wirelessly connected.
  • the master control unit transmits to the slave communication unit of the slave wireless device via the master communication unit a connection request signal for requesting the wireless connection, with respect to the slave wireless device that has entered the communication-target region.
  • the slave control unit of the slave wireless device performs the wireless connection in the case that the slave communication unit has received the connection request signal.
  • the slave control unit is capable of transmitting to the master communication unit via the slave communication unit a connection completion signal to the effect that the wireless connection has been completed and a reception completion signal to the effect that the cut-off request signal has been received.
  • the master control unit can recognize cut-off of the wireless connection to have been performed in the case that the reception completion signal is received, or that, for a fixed time, there is no response to the master communication unit from the slave communication unit.
  • one bank may be configured by a plurality of the slave wireless devices provided to a plurality of the appliances.
  • each of a plurality of the slave wireless devices further includes a slave-side table storing at least an identification number of the bank to which the slave wireless device itself belongs, and identification numbers of a plurality of the master wireless devices.
  • each of a plurality of the master wireless devices further includes a master-side table storing at least identification numbers of a plurality of the banks, and an identification number of the master wireless device itself.
  • the master control unit transmits to the slave communication units of a plurality of the slave wireless devices belonging to one of the banks that has entered the communication-target region, via the master communication unit, the connection request signal including the identification number of the one of the banks and the identification number of the master control unit itself, referring to the master-side table.
  • the slave control unit may perform the wireless connection in the case that the identification number of the one of the banks included in the connection request signal that has been received by the slave communication unit and the identification number of the bank to which the slave control unit itself belongs match, and that the identification number of the master wireless device included in the connection request signal is stored in the slave-side table, referring to the slave-side table.
  • pairing of each of a plurality of the master wireless devices and one of the banks is performed using data files like the master-side table and the slave-side table.
  • the wireless connection can be performed accurately and efficiently.
  • the identification numbers stored in the slave-side table are each transmitted to the new master wireless device from a plurality of the slave wireless devices configuring the one of the banks, then the identification numbers can each be copied to the master-side table of the new master wireless device.
  • repair work of the wireless communication system becomes easy.
  • the wireless communication system may further include a computer connected to a plurality of the master wireless devices.
  • the computer outputs an instruction signal instructing the wireless connection or cut-off of the wireless connection with one of the slave wireless devices, to a plurality of the master wireless devices.
  • the master control unit transmits to the slave communication unit via the master communication unit the connection request signal or the cut-off request signal, in the case that the instruction signal has been inputted from the computer.
  • the master control unit may output to the computer a completion notification signal for notifying completion of the wireless connection or completion of cut-off of the wireless connection, in the case that a connection completion signal to the effect that the wireless connection has been completed, or a reception completion signal to the effect that the cut-off request signal has been received is received by the master communication unit via the slave communication unit from the slave control unit, or that, for a fixed time, there is no response to the master communication unit from the slave communication unit.
  • the computer can easily confirm completion of the wireless connection or completion of cut-off of the wireless connection, based on the completion notification signal that has been inputted.
  • a slave wireless device is a slave wireless device provided to a certain appliance and capable of wireless communication with a master wireless device, wherein the appliance is movable.
  • the slave wireless device includes a slave control unit and a slave communication unit. The slave control unit cuts off a wireless connection with the master wireless device in the case that the slave communication unit has received a cut-off request signal from the master wireless device.
  • the slave wireless device attains the connection-free state.
  • the slave wireless device has deviated from the communication-target region of the master wireless device to enter the communication-target region of another master wireless device, for the slave wireless device to be wirelessly connected to the other master wireless device.
  • the present invention it becomes possible for wireless communication to be performed between the slave wireless device and the other master wireless device even when the appliance moves.
  • the slave control unit may perform the wireless connection in the case that the slave communication unit has received the connection request signal from the master wireless device.
  • the slave wireless device in the connection-free state and the master wireless device can be easily wirelessly connected.
  • a master wireless device is a master wireless device capable of wireless communication with a plurality of slave wireless devices that are provided to a plurality of appliances, wherein a plurality of the appliances are movable.
  • the master wireless device includes a master control unit and a master communication unit.
  • the master control unit transmits to the slave wireless device via the master communication unit a cut-off request signal for requesting the slave wireless device to cut-off a wireless connection.
  • the slave wireless device cuts off the wireless connection, and attains the connection-free state.
  • the slave wireless device it becomes possible, in the case where the slave wireless device has deviated from the communication-target region to enter the communication-target region of another master wireless device, for the slave wireless device to be wirelessly connected to the other master wireless device.
  • the present invention it becomes possible for wireless communication to be performed between the slave wireless device and the other master wireless device even when the appliance moves.
  • the master control unit may transmit to the slave wireless device via the master communication unit a connection request signal for requesting the wireless connection.
  • the slave wireless device in the connection-free state and the master wireless device can be easily wirelessly connected.
  • FIG. 1 is a schematic configuration diagram of a wireless communication system according to the present embodiment
  • FIG. 2 is an explanatory diagram showing the case where there is one bank in a communication-target region of one master wireless device
  • FIG. 3 is a block diagram showing a connection relationship of a computer, the master wireless device, and a plurality of slave wireless devices;
  • FIG. 4 is a view showing a master-side table of FIG. 3 ;
  • FIG. 5 is a view showing a slave-side table of FIG. 3 ;
  • FIG. 6 is a sequence diagram showing a flow of wireless connection processing with the master wireless device and the slave wireless device;
  • FIG. 7 is a sequence diagram showing a flow of control processing over an appliance from the computer.
  • FIG. 8 is a sequence diagram showing a flow of cut-off processing of a wireless connection with the master wireless device and the slave wireless device.
  • a wireless communication system 10 includes: a plurality of master wireless devices 12 ; a plurality of slave wireless devices 16 provided to a plurality of appliances 14 , the plurality of slave wireless devices 16 configuring a later-mentioned plurality of banks 32 and being capable of wireless communication between themselves and one master wireless device 12 ; and a computer 18 connected to the plurality of master wireless devices 12 .
  • FIGS. 1 and 2 illustrate an example where the wireless communication system 10 has been applied to wireless communication in an industrial facility.
  • the wireless communication system 10 is applied to a conveyor line 20 of an automobile production plant.
  • the conveyor line 20 is provided with a working area 21 , and this working area 21 has provided thereto, sequentially, along a conveying direction of a later-mentioned carriage 28 (a clockwise direction shown in FIG. 1 ), a plurality of stations 22 for doing certain work.
  • Each of the plurality of stations 22 has installed therein one master wireless device 12 , and has installed therein at certain positions an unillustrated plurality of industrial robots for doing certain work.
  • Each of these industrial robots also has connected thereto a wireless device capable of wireless communication with the one master wireless device 12 .
  • the number of the plurality of stations 22 and the plurality of master wireless devices 12 is assumed to be L (where L is an integer of 1 or more).
  • the master wireless device 12 has a certain communication range, a region within the station 22 where the master wireless device 12 is installed, of this communication range is set to a communication-target region 24 for performing wireless communication between the master wireless device 12 and the plurality of slave wireless devices 16 configuring one bank 32 .
  • communication-target regions 24 never overlap.
  • the plurality of carriages 28 each being an appliance for movement on which an automobile 26 (refer to FIG. 2 ) prior to completion is placed, are conveyed sequentially along the conveying direction.
  • a periphery of the automobile 26 has disposed therein a plurality of the appliances 14 of the likes of a clamp cylinder for clamping an automobile component, such as a door of the automobile 26 .
  • Each of the plurality of appliances 14 is provided with the slave wireless device 16 and various kinds of sensors 30 for detecting a state of the appliance 14 being a measurement target.
  • one carriage 28 is provided with a plurality of the appliances 14 , a plurality of the slave wireless devices 16 , and a plurality of the sensors 30 . Moreover, by the carriage 28 being conveyed in the conveying direction, the plurality of appliances 14 , the plurality of slave wireless devices 16 , and the plurality of sensors 30 move integrally with the carriage 28 .
  • FIG. 1 illustrates a situation of the banks 32 moving along the conveying direction.
  • the bank 32 provided to the carriage 28 enters the communication-target region 24 of the master wireless device 12 disposed in said station 22 .
  • wireless communication is performed between the master wireless device 12 and the plurality of slave wireless devices 16 configuring the bank 32 .
  • wireless communication is performed between one master wireless device 12 and the plurality of slave wireless devices 16 configuring one bank 32 , only when the one bank 32 is in the communication-target region 24 of the one master wireless device 12 .
  • wireless communication is performed by a frequency hopping system, between one master wireless device 12 and a plurality of slave wireless devices 16 . That is, in the master wireless device 12 , in order that, after cut-off of the wireless connection, wireless communication can be performed between the master wireless device 12 and the plurality of slave wireless devices 16 of the next bank 32 , the master wireless device 12 is switched to a channel of a synchronizing frequency differing from a synchronizing frequency of the bank 32 that has deviated from the communication-target region 24 .
  • the plurality of slave wireless devices 16 are switched to a channel of a synchronizing frequency differing from the synchronizing frequency in the previous wireless connection. Switching of channels by the frequency hopping system is disclosed in the above-described publication, so a detailed description thereof will be omitted.
  • the number of the plurality of slave wireless devices 16 configuring one bank 32 is assumed to be M (where M is an integer of 1 or more). Moreover, in the present embodiment, the number of banks 32 (the number of carriages 28 ) is assumed to be N.
  • FIG. 3 is a block diagram showing, with respect to one station 22 , a connection relationship of: the computer 18 ; the master wireless device 12 ; and the plurality of slave wireless devices 16 configuring the bank 32 .
  • the plurality of slave wireless devices 16 configuring the bank 32 have the same configurations as each other.
  • the master wireless devices 12 disposed in each of the plurality of stations 22 have the same configurations as each other.
  • the computer 18 and the master wireless device 12 are connected via a communication line 34 such as a field bus, and are capable of transmission/reception of signals.
  • the computer 18 which is a PLC (Programmable Logic Controller) or a PC (Personal Computer), for example, performs at least monitoring of the industrial facility (the conveyor line 20 of the automobile production plant).
  • the computer 18 outputs various kinds of instructions (for example, an instruction signal, a control instruction signal) to the master wireless device 12 via the communication line 34 .
  • the computer 18 is inputted with various kinds of responses to the instructions (for example, a completion notification signal) from the master wireless device 12 .
  • the computer 18 monitors the wireless communication system 10 overall.
  • the computer 18 having bank IDs being identification numbers of a plurality of the banks 32 , it is possible for the computer 18 to recognize a current position of each of the banks 32 or a state of the wireless connection with each of the banks (the plurality of slave wireless devices 16 ) and the master wireless device 12 , based on response content inputted from the master wireless device 12 .
  • the master wireless device 12 includes a master control unit 12 a , a master communication unit 12 b , and a master-side table 12 c .
  • the master control unit 12 a controls the whole of the master wireless device 12 , and performs transmission/reception of signals by wireless communication, between the master wireless device 12 and the slave wireless device 16 in the communication-target region 24 of the master wireless device 12 , via the master communication unit 12 b.
  • the master control unit 12 a transmits to the slave wireless device 16 in the communication-target region 24 via the master communication unit 12 b a connection request signal for requesting the wireless connection or a cut-off request signal for requesting cut-off of the wireless connection, based on the instruction signal inputted from the computer 18 . Furthermore, the master control unit 12 a outputs to the computer 18 the completion notification signal for notifying completion of the wireless connection or completion of cut-off of the wireless connection, in the case that the master communication unit 12 b has received from the slave wireless device 16 a connection completion signal to the effect that the wireless connection has been completed, or a reception completion signal to the effect that the cut-off request signal has been received.
  • the master control unit 12 a may output to the computer 18 the completion notification signal, in the case that, for a fixed time, there is no response to the master communication unit 12 b from the slave wireless device 16 , instead of by reception of the reception completion signal.
  • the master control unit 12 a outputs the completion notification signal, recognizing cut-off of the wireless connection to have been performed, in the case that the master control unit 12 a has received the reception completion signal, or in the case that, for a fixed time, there is no response to the master control unit 12 a from the slave wireless device 16 .
  • the slave wireless device 16 includes a slave control unit 16 a , a slave communication unit 16 b , and a slave-side table 16 c .
  • the slave control unit 16 a controls the whole of the slave wireless device 16 , and performs transmission/reception of signals by wireless communication, between the slave wireless device 16 and the master wireless device 12 , via the slave communication unit 16 b .
  • the slave control unit 16 a supplies the appliance 14 with the control instruction signal from the master wireless device 12 received by the slave communication unit 16 b , thereby operating the appliance 14 , and, at the same time, transmits to the master wireless device 12 via the slave communication unit 16 b a detection signal indicating a state of the appliance 14 detected by the sensor 30 .
  • the slave control unit 16 a transmits the connection completion signal to the master communication unit 12 b via the slave communication unit 16 b after having performed the wireless connection with the master wireless device 12 , in the case that the slave communication unit 16 b has received the connection request signal. Furthermore, the slave control unit 16 a performs cut-off of the wireless connection with the master wireless device 12 after having transmitted the reception completion signal to the master communication unit 12 b via the slave communication unit 16 b , in the case that the slave communication unit 16 b has received the cut-off request signal.
  • FIG. 4 is a view showing various kinds of identification numbers (IDs) stored in the master-side table 12 c
  • FIG. 5 is a view showing various kinds of IDs stored in the slave-side table 16 c.
  • the master-side table 12 c has stored therein: a master ID being an identification number of the master-side table 12 c itself; bank IDs being identification numbers of a plurality of the banks 32 ; and slave IDs being identification numbers of the pluralities of slave wireless devices 16 configuring the plurality of banks 32 .
  • a master ID of “MIDI” indicating being the first master wireless device 12
  • bank IDs from 0 to N are stored in the master-side table 12 c .
  • slave IDs of “SIDij” (where i is an integer from 0 to N, and j is an integer from 1 to M) indicating the pluralities of slave wireless devices 16 configuring the banks 32 .
  • the bank 32 having a bank ID of “0” is prepared as a spare bank for future expansion.
  • the slave-side table 16 c has stored therein: the bank ID of the bank 32 to which the slave-side table 16 c itself belongs; a slave ID being the identification number of the slave-side table 16 c itself; and the master IDs of a plurality of the master wireless devices 12 .
  • FIG. 5 it is illustrated that a bank ID of “3” indicating being the third bank 32 , a slave ID of “SID31”, and master IDs of “MIDk” (where k is an integer from 1 to L), are stored in the slave-side table 16 c.
  • the master control unit 12 a transmits to the slave communication unit 16 b via the master communication unit 12 b the connection request signal including one bank ID, one slave ID, and the master ID of the master control unit 12 a itself, referring to the master-side table 12 c of FIG. 4 .
  • the slave control unit 16 a performs the wireless connection if the bank ID included in the connection request signal received by the slave communication unit 16 b and the bank ID to which the slave control unit 16 a itself belongs match, the slave ID included in the connection request signal and the slave ID of the slave control unit 16 a itself match, and the master ID included in the connection request signal is stored in the slave-side table 16 c of FIG. 5 , referring to the slave-side table 16 c.
  • the slave control unit 16 a transmits to the master communication unit 12 b via the slave communication unit 16 b the connection completion signal including the bank ID to which the slave control unit 16 a itself belongs, the slave ID of the slave control unit 16 a itself, and the master ID of the master wireless device 12 being a wireless connection target, referring to the slave-side table 16 c .
  • the master control unit 12 a recognizes the wireless connection to have been completed if the bank ID and the slave ID included in the connection completion signal received by the master communication unit 12 b are stored in the master-side table 12 c , and the master ID included in the connection completion signal and the master ID of the master control unit 12 a itself match, referring to the master-side table 12 c.
  • the number of the banks 32 (bank IDs) or the number of the plurality of slave wireless devices 16 within the banks 32 (slave IDs) can be increased/decreased depending on a magnitude of capacity of the master-side table 12 c .
  • the number of the master wireless devices 12 (master IDs) can be increased/decreased depending on a magnitude of capacity of the slave-side table 16 c.
  • the computer 18 has the bank IDs, and is capable of monitoring all of the banks 32 , based on information inputted from the plurality of master wireless devices 12 . Therefore, in step S 1 , the computer 18 recognizes, with regard to the carriage 28 conveyed to one station 22 (refer to FIGS. 1 and 2 ), that the plurality of slave wireless devices 16 configuring the bank 32 are in the connection-free state and that the master wireless device 12 provided to said station 22 is also in an unconnected state.
  • the computer 18 grasps the bank ID of the bank 32 entering the communication-target region 24 of this station 22 , and, by the bank 32 entering the communication-target region 24 , judges that wireless communication is possible between the master wireless device 12 and the plurality of slave wireless devices 16 configuring the bank 32 .
  • wireless communication by the frequency hopping system is performed, so the master wireless device 12 , and the plurality of slave wireless devices 16 configuring the bank 32 have each undergone switching of their channel of synchronizing frequency in advance.
  • step S 2 the computer 18 outputs to the master wireless device 12 the instruction signal for instructing request of the wireless connection between the master wireless device 12 and the plurality of slave wireless devices 16 configuring the bank 32 .
  • the computer 18 outputs to the master wireless device 12 the instruction signal including the bank ID of said bank 32 .
  • step S 4 the master control unit 12 a (refer to FIG. 3 ) of the master wireless device 12 recognizes the bank ID indicated by the instruction signal.
  • the master control unit 12 a generates the connection request signal including the bank ID, one slave ID, and the master ID of the master control unit 12 a itself, referring to the master-side table 12 c , and transmits the generated connection request signal to the communication-target region 24 via the master communication unit 12 b.
  • step S 5 the slave communication units 16 b of the plurality of slave wireless devices 16 belonging to the bank 32 receive the connection request signal from the master communication unit 12 b.
  • step S 6 the slave control units 16 a of the plurality of slave wireless devices 16 judge, referring to the slave-side table 16 c , whether or not the bank ID included in the connection request signal and the bank ID of the bank 32 to which the slave control unit 16 a itself belongs match, the slave ID included in the connection request signal and the slave ID of the slave control unit 16 a itself match, and the master ID included in the connection request signal is stored in the slave-side table 16 c.
  • step S 7 the slave control unit 16 a recognizes the wireless connection to have been requested of the slave wireless device 16 in which the slave control unit 16 a itself is included, and performs wireless connection processing between the slave wireless device 16 and the master wireless device 12 indicated by the master ID.
  • step S 8 the slave control unit 16 a generates the connection completion signal including the bank ID to which the slave control unit 16 a itself belongs, the slave ID of the slave control unit 16 a itself, and the master ID of the master wireless device 12 that has transmitted the connection request signal, referring to the slave-side table 16 c , and transmits the generated connection completion signal to the master communication unit 12 b via the slave communication unit 16 b .
  • step S 6 each of the IDs do not match, then the slave control unit 16 a waits until the slave wireless device 16 receives a connection request signal in which the IDs match.
  • step S 9 if the master communication unit 12 b has received the connection completion signal, then the master control unit 12 a recognizes the wireless connection between the master wireless device 12 and the slave wireless device 16 indicated by the slave ID to have been completed if the bank ID and the slave ID included in the connection completion signal are stored in the master-side table 12 c , and the master ID included in the connection completion signal and the master ID of the master control unit 12 a itself match, referring to the master-side table 12 c.
  • step S 10 the master control unit 12 a judges whether or not the wireless connection between the master wireless device 12 and all of the slave wireless devices 16 within the bank 32 has been completed. If the wireless connection between the master wireless device 12 and all of the slave wireless devices 16 has not been completed, that is, if the connection completion signal has not been received from all of the slave wireless devices 16 (step S 10 : NO), then processing returns to step S 4 , and the connection request signal is retransmitted targeting the slave wireless device 16 from which the connection completion signal has not been received. Thus, processing of steps S 4 to S 10 is repeatedly performed until the wireless connection between the master wireless device 12 and all of the slave wireless devices 16 within the bank 32 has been completed.
  • step S 10 if the wireless connection between the master wireless device 12 and all of the slave wireless devices 16 within the bank 32 has been completed (step S 10 : YES), then in following step S 11 , the master control unit 12 a outputs to the computer 18 the completion notification signal indicating that the wireless connection between the master wireless device 12 and all of the slave wireless devices 16 configuring the bank 32 has been completed.
  • step S 12 the computer 18 can recognize that the wireless connection between the plurality of slave wireless devices 16 configuring the bank 32 and the master wireless device 12 has been completed, and that a situation enabling wireless communication has been attained, based on input of the completion notification signal.
  • step S 13 of FIG. 7 the computer 18 outputs to the master wireless device 12 the control instruction signal for instructing control over the appliance 14 . If the control instruction signal has been inputted in step S 14 , then in following step S 15 , the master control unit 12 a transmits the control instruction signal, via the master communication unit 12 b , to the slave communication unit 16 b provided to the appliance 14 being a control target.
  • step S 16 If the control instruction signal has been received by the slave communication unit 16 b in step S 16 , then in following step S 17 , the slave control unit 16 a supplies the received control instruction signal to the appliance 14 , and thereby operates the appliance 14 . At the same time, the sensor 30 detects an operation state of the appliance 14 , and outputs a detection signal thereof to the slave wireless device 16 . In step S 18 , the slave control unit 16 a transmits the detection signal of the sensor 30 to the master communication unit 12 b via the slave communication unit 16 b.
  • step S 19 If the detection signal has been received by the master communication unit 12 b in step S 19 , then in following step S 20 , the master control unit 12 a outputs to the computer 18 the detection signal received by the master communication unit 12 b . In step S 21 , the computer 18 can recognize the state of the appliance 14 being the control target, based on input of the detection signal.
  • step S 22 the computer 18 judges whether or not control over all of the appliances 14 disposed in the one carriage 28 should be completed. If control over all of the appliances 14 has not been completed (step S 22 : NO), then the computer 18 returns to step S 13 , and performs output of the control instruction signal to the same appliance 14 or another appliance 14 . Repeatedly performing processing of steps S 13 to S 22 in this way makes it possible for the certain work on the automobile 26 placed on the carriage 28 to be done in one station 22 .
  • the computer 18 transmits the control instruction signal to the wireless device of the industrial robot installed in the communication-target region 24 of the station 22 , via the master wireless device 12 .
  • the industrial robot can do the certain work on the automobile 26 placed on the carriage 28 , based on the control instruction signal supplied via the wireless device.
  • the master wireless device 12 should utilize technology of the above-described publication to perform wireless communication between itself and the wireless device provided to the industrial robot.
  • the master wireless device 12 may utilize technology of the above-described publication to perform wireless communication between itself and the slave wireless device 16 .
  • step S 22 of FIG. 7 If the certain work on the automobile 26 have been completed, and control over all of the appliances 14 has been completed (step S 22 of FIG. 7 : YES), then in step S 23 of FIG. 8 , the computer 18 outputs to the master wireless device 12 the instruction signal for instructing cut-off of the wireless connection between the master wireless device 12 , and the plurality of slave wireless devices 16 configuring the bank 32 .
  • step S 25 the master control unit 12 a generates the cut-off request signal, and transmits the generated cut-off request signal to the communication-target region 24 via the master communication unit 12 b.
  • step S 26 the cut-off request signal has been received from the master communication unit 12 b by the slave communication unit 16 b of the plurality of slave wireless devices 16 .
  • step S 27 the slave control unit 16 a recognize cut-off of the wireless connection to have been requested of the slave wireless device 16 in which the slave control unit 16 a itself is included. Then, the slave control unit 16 a generates the reception completion signal to the effect that the cut-off request signal has been received, and transmits the generated reception completion signal to the master communication unit 12 b via the slave communication unit 16 b . Subsequently, in step S 28 , the slave control unit 16 a performs cut-off of the wireless connection between the slave wireless device 16 and the master wireless device 12 .
  • step S 29 the reception completion signal has been received by the master communication unit 12 b . If, in step S 29 , the reception completion signal has been received by the master communication unit 12 b , then the master control unit 12 a recognizes cut-off processing of the wireless connection to have been performed in the slave wireless device 16 that has transmitted the reception completion signal. In following step S 30 , the master control unit 12 a judges whether or not cut-off processing of the wireless connection between the master wireless device 12 and all of the slave wireless devices 16 within the bank 32 has been able to be recognized, that is, whether or not the reception completion signal has been received from all of the slave wireless devices 16 .
  • step S 30 If cut-off of the wireless connection between the master wireless device 12 and all of the slave wireless devices 16 has not been able to be recognized, that is, if the reception completion signal has not been received from all of the slave wireless devices 16 (step S 30 : NO), then processing returns to step S 25 . Then, the master control unit 12 a retransmits the cut-off request signal targeting the slave wireless device 16 from which the reception completion signal has not been received. Thus, processing of steps S 25 to S 30 is repeatedly performed until the reception completion signal is received from all of the slave wireless devices 16 within the bank 32 .
  • step S 30 If the reception completion signal has been received from all of the slave wireless devices 16 within the bank 32 , and cut-off of the wireless connection between the master wireless device 12 and all of the slave wireless devices 16 has been able to be recognized by the master control unit 12 a (step S 30 : YES), then in following step S 31 , the master control unit 12 a outputs to the computer 18 the completion notification signal indicating cut-off of the wireless connection between the master wireless device 12 and all of the slave wireless devices 16 configuring the bank 32 to have been completed.
  • the master wireless device 12 attains the unconnected state, and the plurality of slave wireless devices 16 attain the connection-free state. Subsequently, switching of the channel of synchronizing frequency is performed in each of the master wireless device 12 and the plurality of slave wireless devices 16 that have attained the connection-free state.
  • step S 33 the computer 18 can recognize that cut-off of the wireless connection between the plurality of slave wireless devices 16 configuring the bank 32 and the master wireless device 12 has been completed, and that the master wireless device 12 and the plurality of slave wireless devices 16 have together attained the unconnected state, based on the completion notification signal. Note that since the certain work on the automobile 26 have been completed, the carriage 28 is conveyed toward the next station 22 on the downstream side, whereby the bank 32 departs from the communication-target region 24 with all of the slave wireless devices 16 in the connection-free state.
  • a plurality of automatic guided vehicles (AGVs) 36 each being an appliance for movement on which the automobile 26 prior to completion is placed, may be moved in the conveying direction, instead of the plurality of carriages 28 .
  • the bank 32 can be configured by the plurality of slave wireless devices 16 disposed in the automatic guided vehicle 36 .
  • the master communication unit 12 b of the master wireless device 12 may transmit the connection request signal including the bank ID and the master ID.
  • the connection request signal can be transmitted simultaneously to the plurality of slave wireless devices 16 of the bank 32 that has entered the communication-target region 24 of the master wireless device 12 .
  • the master-side table 12 c and the slave-side table 16 c may have stored therein at least the bank ID and the master ID.
  • the master communication unit 12 b of the master wireless device 12 may transmit the control instruction signal including the bank ID and the master ID, or the bank ID, the master ID, and the slave ID.
  • the plurality of slave wireless devices 16 of the bank 32 that has entered the communication-target region 24 can perform ID match processing in step S 17 in a manner similar to in step S 6 of FIG. 6 , and after having recognized the control instruction signal to be targeting the appliance 14 connected to the slave wireless device 16 itself, supply the control instruction signal to said appliance 14 .
  • the slave control unit 16 a may supplement the detection signal of the sensor 30 with the bank ID, the master ID, and the slave ID, and transmit the supplemented detection signal to the master communication unit 12 b via the slave communication unit 16 b .
  • the master control unit 12 a can recognize that the detection signal as a response to the control instruction signal transmitted in step S 15 has been able to be received, based on the bank ID, the master ID, and the slave ID that have been received by the master communication unit 12 b.
  • the master communication unit 12 b of the master wireless device 12 may transmit the cut-off request signal including the bank ID and the master ID, or the bank ID, the master ID, and the slave ID.
  • the plurality of slave wireless devices 16 of the bank 32 that has entered the communication-target region 24 can perform ID match processing in step S 27 in a manner similar to in step S 6 of FIG. 6 , and after having recognized the cut-off request signal to be targeting the slave wireless device 16 itself, perform cut-off processing of the wireless connection.
  • the master control unit 12 a may recognize cut-off of the wireless connection to have been performed by the slave wireless device 16 in the case that, for a fixed time, there is no response to the master communication unit 12 b from said slave wireless device 16 , instead of by transmission of the reception completion signal in step S 27 and reception of the reception completion signal in step S 29 .
  • the master control unit 12 a can output the completion notification signal to the computer 18 in step S 31 .
  • the plurality of appliances 14 , the carriage 28 , and the automatic guided vehicle 36 are movable.
  • the master control unit 12 a of the master wireless device 12 wirelessly connected to the slave wireless device 16 provided to the appliance 14 , the carriage 28 , and the automatic guided vehicle 36 transmits the cut-off request signal to the slave communication unit 16 b of the slave wireless device 16 via the master communication unit 12 b , with respect to the slave wireless device 16 deviating from the communication-target region 24 .
  • the slave control unit 16 a of the slave wireless device 16 cuts off the wireless connection in the case that the slave communication unit 16 b has received the cut-off request signal.
  • the slave wireless device 16 deviating from the communication-target region 24 attains the connection-free state.
  • the slave wireless device 16 and the other master wireless device 12 it becomes possible, in the case where the slave wireless device 16 has entered the communication-target region 24 of another master wireless device 12 , for the slave wireless device 16 and the other master wireless device 12 to be wirelessly connected.
  • wireless communication it becomes possible for wireless communication to be performed between the slave wireless device 16 and the other master wireless device 12 even when the appliance 14 , the carriage 28 , and the automatic guided vehicle 36 move.
  • the master control unit 12 a transmits the connection request signal to the slave communication unit 16 b via the master communication unit 12 b , with respect to the slave wireless device 16 that has entered the communication-target region 24 .
  • the slave control unit 16 a performs the wireless connection in the case that the slave communication unit 16 b has received the connection request signal. As a result, the slave wireless device 16 in the connection-free state and the master wireless device 12 can be easily wirelessly connected.
  • the slave control unit 16 a transmits the connection completion signal and the reception completion signal to the master communication unit 12 b via the slave communication unit 16 b .
  • the master control unit 12 a can easily confirm completion of the wireless connection, and can easily recognize cut-off of the wireless connection to have been performed, based on the connection completion signal and the reception completion signal that have been received by the master communication unit 12 b .
  • the master control unit 12 a may recognize cut-off of the wireless connection to have been performed in the case that, for a fixed time, there is no response to the master communication unit 12 b from the slave communication unit 16 b , instead of by reception of the reception completion signal by the master communication unit 12 b.
  • cut-off of the wireless connection can be certainly recognized to have been performed, by reception of the reception completion signal. Moreover, it becomes possible, in the case that, for a fixed time, there is no response from the slave communication unit 16 b , for it to be inferred on a master control unit 12 a side that cut-off of the wireless connection has been performed by the slave wireless device 16 , and that there has been a transition to the connection-free state.
  • one bank 32 is configured by the plurality of slave wireless devices 16 provided to the plurality of appliances 14 , the carriage 28 , and the automatic guided vehicle 36 .
  • Each of the plurality of slave wireless devices 16 further includes the slave-side table 16 c storing the bank ID of the bank 32 to which the slave wireless device 16 itself belongs, the master IDs of a plurality of the master wireless devices 12 , and the slave ID of the slave wireless device 16 itself.
  • each of the plurality of master wireless devices 12 further includes the master-side table 12 c storing the bank IDs of a plurality of the banks 32 , the master ID of the master wireless device 12 itself, and the slave IDs of the pluralities of slave wireless devices 16 belonging to the plurality of banks 32 .
  • the master control unit 12 a transmits to the slave communication units 16 b of the plurality of slave wireless devices 16 belonging to one bank 32 that has entered the communication-target region 24 , via the master communication unit 12 b , the connection request signal including at least one bank ID and the master ID of the master control unit 12 a itself, referring to the master-side table 12 c .
  • the slave control unit 16 a performs the wireless connection in the case that the bank ID included in the connection request signal that has been received by the slave communication unit 16 b and the bank ID of the bank 32 to which the slave control unit 16 a itself belongs match, and that the master ID included in the connection request signal is stored in the slave-side table 16 c , referring to the slave-side table 16 c.
  • pairing of each of the plurality of master wireless devices 12 and one bank 32 is performed using data files like the master-side table 12 c and the slave-side table 16 c .
  • the wireless connection can be performed accurately and efficiently.
  • the IDs stored in the slave-side table 16 c are each transmitted to the new master wireless device 12 from the plurality of slave wireless devices 16 configuring one bank 32 , then the IDs can each be copied to the master-side table 12 c of the new master wireless device 12 .
  • repair work of the wireless communication system 10 becomes easy.
  • the computer 18 outputs the instruction signal to the plurality of master wireless devices 12 .
  • the master control unit 12 a transmits to the slave communication unit 16 b via the master communication unit 12 b the connection request signal or the cut-off request signal, in the case that the master control unit 12 a has been inputted with the instruction signal, and, on the other hand, outputs to the computer 18 the completion notification signal, in the case that the connection completion signal or the reception completion signal has been received by the master communication unit 12 b .
  • the computer 18 can easily confirm completion of the wireless connection or completion of cut-off of the wireless connection, based on the inputted completion notification signal.
  • the master control unit 12 a may output the completion notification signal to the computer when, for a fixed time, there is no response to the master communication unit 12 b from the slave communication unit 16 b , instead of due to reception of the reception completion signal.
  • the slave control unit 16 a cuts off the wireless connection with the master wireless device 12 in the case that the slave communication unit 16 b has received the cut-off request signal from the master wireless device 12 .
  • the slave wireless device 16 attains the connection-free state.
  • the slave control unit 16 a performs the wireless connection in the case that the slave communication unit 16 b has received the connection request signal from the master wireless device 12 .
  • the slave wireless device 16 in the connection-free state and the master wireless device 12 can be easily wirelessly connected.
  • the master control unit 12 a transmits the cut-off request signal to the slave wireless device 16 via the master communication unit 12 b .
  • the slave wireless device 16 cuts off the wireless connection, and attains the connection-free state.
  • the slave wireless device 16 it becomes possible, in the case where the slave wireless device 16 has deviated from the communication-target region 24 to enter the communication-target region 24 of another master wireless device 12 , for the slave wireless device 16 to be wirelessly connected to the other master wireless device 12 .
  • the master control unit 12 a transmits to the slave wireless device 16 via the master communication unit 12 b the connection request signal with respect to the slave wireless device 16 that has entered the communication-target region 24 , the slave wireless device 16 in the connection-free state and the master wireless device 12 can be easily wirelessly connected.

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  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mobile Radio Communication Systems (AREA)
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CN111819906A (zh) 2020-10-23
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BR112020018128A2 (pt) 2020-12-22
RU2768762C1 (ru) 2022-03-24
KR102374435B1 (ko) 2022-03-15
TWI793276B (zh) 2023-02-21
EP3764729A1 (en) 2021-01-13
EP3764729A4 (en) 2021-12-08
KR20200127242A (ko) 2020-11-10
WO2019171979A1 (ja) 2019-09-12
CN111819906B (zh) 2023-09-29
JP7191300B2 (ja) 2022-12-19
TW201941652A (zh) 2019-10-16
MX2020009170A (es) 2020-10-15

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